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- App.24 -
PrNo.
Parameter
Range Unit Function
description
• You can select the switching between PI and P action or
switching between the 1st and 2nd gains.
*1 Switch the PI and P action with the gain switching input
(GAIN: CN I/F Pin 5).
*2 See Adjustment for the conditions for switching
between the 1st and 2nd gains.
•
You can select the conditions for switching between the 1st and
2nd gains at the position control mode.
30
31
2nd gain
action set-up
Position control
switching mode
0 ~ 1
0 ~ 8
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Details of Parameters
Parameters for Switching to 2nd Gains
Gain selection and switching
Fixed to the 1st gains
*1 (switching between PI and P possible)
Switching between the 1st
and 2nd gains possible *2
GAIN input
COM- disconnected
COM- connected
Operation of the position loop
PI operation
P operation
Default : [ ]
Value
[ 0 ]
1
Conditions for gain switching
Fixed to the 1st gain
Fixed to the 2nd gain
2nd gain selection with the gain switching input (GAIN) ON/
(Pr30 must be set to 1)
2nd gain selection with a larger torque command change
Fixed to the 1st gain
2nd gain selection with a larger velocity command
2nd gain selection with a larger position error
2nd gain selection with the position command issued
2nd gain selection with existence of 1 or more command pulse in 166 É s area.
2nd gain selection with no in-position
2nd gain selection with a position error counter value larger than Pr60 (in-
position detection range)
Value
[ 0 ]
1
2
3
4
5
6
7
8
*
3 For the switching level and timing, see App. 54 and App. 55.
*
3
*
3
*
3
*
3
*
3
*
3